技术领域technical field
本发明涉及汽车辅助驾驶领域，尤其涉及一种汽车横纵向主动协调避撞系统及其协调方法。The invention relates to the field of automobile auxiliary driving, in particular to an automobile horizontal and vertical active coordinated collision avoidance system and a coordination method thereof.
背景技术Background technique
汽车辅助驾驶技术越来越受大众关注，特别是如今人工智能的提出，人们对无人驾驶汽车的期待越来越高。对于无人驾驶汽车，在转向这个领域里，最基本的就是主动避撞技术了。Automobile assisted driving technology has attracted more and more attention from the public, especially with the introduction of artificial intelligence, people's expectations for driverless cars are getting higher and higher. For driverless cars, in the field of steering, the most basic is active collision avoidance technology.
有效的主动避撞除了要求有适宜工况的安全距离模型外，还要求能合理地协调转向与制动关系，此外，应该将汽车变道的速度控制在合理范围内，避免速度过大导致甩尾、侧翻等不良反应。因此，只有协调好转向、换挡、制动的权重关系，才能让避撞的过程更加安全有效。目前，有部分研究提出可依据两车的相对距离的大小把避撞分为三种过程：纯转向、转向加制动、纯制动。虽然这样会使得避撞系统更加细致，各个系统分工更明确，但某种意义上讲，其实增加了计算过程，让整体时间有所滞后，避撞效率以及安全性能有所降低了。Effective active collision avoidance requires not only a safe distance model suitable for the working conditions, but also a reasonable coordination of the relationship between steering and braking. In addition, the speed of the vehicle's lane change should be controlled within a reasonable range to avoid excessive speed that may lead to swaying. Tail, rollover and other adverse reactions. Therefore, only by coordinating the weight relationship of steering, gear shifting, and braking can the process of collision avoidance be made safer and more effective. At present, some studies have proposed that collision avoidance can be divided into three processes according to the relative distance between two vehicles: pure steering, steering plus braking, and pure braking. Although this will make the collision avoidance system more detailed and the division of labor of each system clearer, in a sense, it actually increases the calculation process, delays the overall time, and reduces the collision avoidance efficiency and safety performance.
所以，如果能在任何工况下都可实现边转向边制动，会让避撞过程更加高效安全，有效地辅助驾驶员的操作，为驾驶员的安全提供保障。Therefore, if it is possible to brake while steering under any working conditions, it will make the collision avoidance process more efficient and safe, effectively assist the driver's operation, and provide protection for the driver's safety.
发明内容Contents of the invention
本发明所要解决的技术问题是针对背景技术中所涉及到的缺陷，提供一种汽车横纵向主动协调避撞系统及其协调方法。The technical problem to be solved by the present invention is to provide a vehicle horizontal and vertical active coordinated collision avoidance system and its coordination method for the defects involved in the background technology.
本发明为解决上述技术问题采用以下技术方案：The present invention adopts the following technical solutions for solving the problems of the technologies described above:
一种汽车横纵向主动协调避撞系统，包括前视雷达、车速传感器、侧向加速度传感器、纵向加速度传感器、前轮转角传感器、判断模块、信号集成模块、权衡单元、转向单元、制动单元、换档单元以及电子控制单元ECU；A vehicle horizontal and vertical active coordinated collision avoidance system, including a forward-looking radar, a vehicle speed sensor, a lateral acceleration sensor, a longitudinal acceleration sensor, a front wheel angle sensor, a judging module, a signal integration module, a weighing unit, a steering unit, a braking unit, Shift unit and electronic control unit ECU;
所述信号集成模块分别和车速传感器、侧向加速度传感器、纵向加速度传感器、前轮转角传感器、权衡单元相连；所述电子控制单元ECU分别和车速传感器、侧向加速度传感器、纵向加速度传感器、前轮转角传感器、前视雷达、判断模块、权衡单元、转向单元、制动单元、换挡单元相连；所述判断模块还分别和所述前视雷达、权衡单元相连；The signal integration module is connected to the vehicle speed sensor, lateral acceleration sensor, longitudinal acceleration sensor, front wheel angle sensor, and weighing unit respectively; the electronic control unit ECU is respectively connected to the vehicle speed sensor, lateral acceleration sensor, longitudinal acceleration sensor, front wheel A rotation angle sensor, a forward-looking radar, a judging module, a weighing unit, a steering unit, a braking unit, and a shifting unit are connected; the judging module is also connected to the forward-looking radar and the weighing unit respectively;
所述前视雷达设置在汽车上，用于收集前方车辆和汽车之间的相对距离以及前方车辆的速度，并将前方车辆和汽车之间的相对距离输出到所述判断模块、将前方车辆的速度输出到所述电子控制单元ECU；The forward-looking radar is arranged on the automobile, and is used for collecting the relative distance between the vehicle in front and the automobile and the speed of the vehicle in front, and outputs the relative distance between the vehicle in front and the automobile to the judging module, and the vehicle in front The speed is output to the electronic control unit ECU;
所述车速传感器、侧向加速度传感器、纵向加速度传感器以及前轮转角传感器均设置在汽车上，分别用于收集汽车的车速、侧向加速度、纵向加速度和前轮转角，并将收集到的数据输入到所述电子控制单元ECU和信号集成模块；The vehicle speed sensor, the lateral acceleration sensor, the longitudinal acceleration sensor and the front wheel angle sensor are all arranged on the automobile, and are respectively used to collect the vehicle speed, lateral acceleration, longitudinal acceleration and front wheel angle of the automobile, and input the collected data to the electronic control unit ECU and signal integration module;
所述信号集成模块用于将接收到的车速、侧向加速度、纵向加速度以及前轮转角整合成工况信号，并输送到权衡单元；The signal integration module is used to integrate the received vehicle speed, lateral acceleration, longitudinal acceleration and front wheel angle into a working condition signal and send it to the weighing unit;
所述转向单元包含转向助力电机，用于控制汽车进行转向操作；The steering unit includes a power steering motor for controlling the steering operation of the vehicle;
所述制动单元包含制动轮缸，用于控制汽车进行制动操作；The braking unit includes a brake wheel cylinder, which is used to control the vehicle to perform a braking operation;
所述换挡单元包含CVT，用于控制汽车进行换挡操作；The shift unit includes a CVT, which is used to control the car to perform a shift operation;
所述电子控制单元ECU用于根据接收到的汽车的车速、纵向加速度、侧向加速度以及前方车辆的速度计算汽车和前方车辆之间的安全距离后，将计算出的安全距离输送到所述判断模块；同时，在接收到权衡单元的计算结果时，根据权衡单元的计算结果计算出最优的前轮转角、侧向加速度、纵向加速度、汽车车速后，分别与汽车实时的前轮转角、侧向加速度、纵向加速度、汽车车速进行比较，依据比较得到的差值来调节转向助力电机的输入电流、制动轮缸的压力以及CVT的传动比，进而使得转向单元、制动单元、换档单元进行工作；The electronic control unit ECU is used to calculate the safety distance between the vehicle and the vehicle in front according to the received vehicle speed, longitudinal acceleration, lateral acceleration and the speed of the vehicle in front, and then send the calculated safety distance to the judgment module; at the same time, when receiving the calculation results of the trade-off unit, calculate the optimal front wheel angle, lateral acceleration, longitudinal acceleration and vehicle speed according to the calculation results of the trade-off unit, and compare them with the real-time front wheel angle, side Comparing the acceleration, longitudinal acceleration, and vehicle speed, and adjusting the input current of the power steering motor, the pressure of the brake wheel cylinder, and the transmission ratio of the CVT according to the difference obtained from the comparison, so that the steering unit, braking unit, and shifting unit working;
所述判断模块用于将接收到的前方车辆和汽车之间的相对距离和安全距离作差，在所得差值小于预设的距离阈值时，发送触发信号给所述权衡单元；The judging module is used to make a difference between the received relative distance and the safety distance between the vehicle in front and the car, and when the obtained difference is less than a preset distance threshold, send a trigger signal to the weighing unit;
所述权衡单元用于在接收到触发信号时根据接收到的工况信号计算出汽车纵向加速度的权重、侧向加速度的权重，前轮转角的权重和汽车速度的权重，并将其输入到电子控制单元ECU中。The weighing unit is used to calculate the weight of the longitudinal acceleration of the vehicle, the weight of the lateral acceleration, the weight of the front wheel rotation angle and the weight of the vehicle speed according to the received working condition signal when receiving the trigger signal, and input them to the electronic In the control unit ECU.
本发明还公开了一种基于该汽车横纵向主动协调避撞系统的协调方法，包括以下几个步骤：The invention also discloses a coordination method based on the vehicle's horizontal and vertical active coordination collision avoidance system, which includes the following steps:
步骤1)，前视雷达收集前方车辆和汽车之间的相对距离以及前方车辆的速度，并将前方车辆和汽车之间的相对距离输出到所述判断模块、将前方车辆的速度输出到所述电子控制单元ECU；Step 1), the forward-looking radar collects the relative distance between the vehicle in front and the vehicle and the speed of the vehicle in front, and outputs the relative distance between the vehicle in front and the vehicle to the judgment module, and the speed of the vehicle in front to the Electronic control unit ECU;
步骤2)，车速传感器、侧向加速度传感器、纵向加速度传感器、前轮转角传感器分别收集汽车的车速、侧向加速度、纵向加速度和前轮转角，并将收集到的数据输入到电子控制单元ECU和信号集成模块；Step 2), the vehicle speed sensor, the lateral acceleration sensor, the longitudinal acceleration sensor, and the front wheel rotation angle sensor respectively collect the vehicle speed, lateral acceleration, longitudinal acceleration and front wheel rotation angle of the car, and input the collected data to the electronic control unit ECU and Signal integration module;
步骤3)，电子控制单元ECU根据接收到的汽车的车速、纵向加速度、前方车辆的速度建立期望距离模型后，根据期望距离模型计算汽车和前方车辆之间的安全距离，并将计算出的安全距离输入到判断模块；Step 3), after the electronic control unit ECU establishes the expected distance model according to the received vehicle speed, longitudinal acceleration, and the speed of the vehicle in front, calculates the safe distance between the car and the vehicle in front according to the expected distance model, and uses the calculated safe distance The distance is input to the judgment module;
步骤4)，信号集成模块将接收到的车速、侧向加速度、纵向加速度以及前轮转角整合成工况信号后输送到权衡单元；Step 4), the signal integration module integrates the received vehicle speed, lateral acceleration, longitudinal acceleration and front wheel angle into a working condition signal and then sends it to the weighing unit;
步骤5)，判断模块将接收到的前方车辆和汽车之间的相对距离和电子控制单元ECU输入的安全距离作差，在所得差值小于预设的距离阈值时，发送触发信号给所述权衡单元；Step 5), the judging module makes a difference between the received relative distance between the vehicle in front and the car and the safety distance input by the electronic control unit ECU, and sends a trigger signal to the trade-off when the obtained difference is less than the preset distance threshold unit;
步骤6)，权衡单元接收到触发信号后，根据信号集成单元输入的工况信号计算出汽车纵向加速度的权重、侧向加速度的权重、前轮转角的权重和汽车速度的权重，并将其输入到电子控制单元ECU中；Step 6), after the weighing unit receives the trigger signal, it calculates the weight of the longitudinal acceleration of the vehicle, the weight of the lateral acceleration, the weight of the front wheel rotation angle and the weight of the vehicle speed according to the working condition signal input by the signal integration unit, and inputs it to the electronic control unit ECU;
步骤7)，电子控制单元ECU根据权衡单元的计算结果计算出当前工况下最优的前轮转角、侧向加速度、纵向加速度、汽车车速，然后分别与传感器输入的汽车实时的前轮转角、侧向加速度、纵向加速度、汽车车速进行比较，依据比较得到的差值来调节转向助力电机的输入电流、制动轮缸的压力以及CVT的传动比；Step 7), the electronic control unit ECU calculates the optimal front wheel angle, lateral acceleration, longitudinal acceleration, and vehicle speed under the current working condition according to the calculation result of the trade-off unit, and then compares them with the real-time front wheel angle, The lateral acceleration, longitudinal acceleration, and vehicle speed are compared, and the input current of the power steering motor, the pressure of the brake wheel cylinder, and the transmission ratio of the CVT are adjusted according to the difference obtained from the comparison;
步骤8)，转向助力电机、CVT、制动轮缸依据电子控制单元ECU调节后的电机电流、传动比、制动压力分别为转向单元、换挡单元以及制动单元提供转向助力、变速、液压油压力，使得转向单元、换档单元、制动单元实现相应的转向、换挡以及制动操作。Step 8), the power steering motor, CVT, and brake wheel cylinder respectively provide power steering, gear shifting, hydraulic The oil pressure enables the steering unit, gear shift unit and brake unit to realize corresponding steering, gear shift and brake operations.
作为本发明一种汽车横纵向主动协调避撞系统的协调方法进一步的优化方案，所述步骤3)中根据以下公式建立期望距离模型S*(Vn(t),ΔVn(t))：As a further optimization scheme of the coordination method of a kind of automobile horizontal and vertical active coordination collision avoidance system of the present invention, in the said step 3), the expected distance model S* (Vn (t), ΔVn (t)) is established according to the following formula:
式中，Vn(t)为汽车的车速；ΔVn(t)为前方车辆和汽车之间的相对速度；s0为预设的前方车辆和汽车之间的最小间隙距离阈值；t为时间；a为汽车的纵向加速度；b为预设的舒适减速度阈值；T为预设的驾驶员反应时间阈值。In the formula, Vn (t) is the speed of the vehicle; ΔVn (t) is the relative speed between the vehicle in front and the vehicle; s0 is the preset minimum gap distance threshold between the vehicle in front and the vehicle; t is the time ; a is the longitudinal acceleration of the car; b is the preset comfortable deceleration threshold; T is the preset driver reaction time threshold.
作为本发明一种汽车横纵向主动协调避撞系统的协调方法进一步的优化方案，所述s0为3米，b为1.5m/s2，T为2s。As a further optimization scheme of the coordination method of the vehicle horizontal and vertical active coordinated collision avoidance system of the present invention, said s0 is 3 meters, b is 1.5m/s2 , and T is 2s.
作为本发明一种汽车横纵向主动协调避撞系统的协调方法进一步的优化方案，所述步骤5)的具体步骤如下：As a further optimization scheme of the coordination method of a kind of automobile horizontal and vertical active coordination collision avoidance system of the present invention, the specific steps of said step 5) are as follows:
步骤5.1)，判断模块计算前方车辆和汽车之间的相对距离和安全距离之间的差值δ：Step 5.1), the judgment module calculates the difference δ between the relative distance between the vehicle in front and the car and the safety distance:
δ＝S-S*δ=SS*
式中，S为前方车辆和汽车之间的相对距离，S*为安全距离：In the formula, S is the relative distance between the vehicle in front and the car, and S* is the safety distance:
步骤5.2)，判断模块将δ和预设的距离阈值SMn(t)进行比较，当δ≤SMn(t)时，发送触发信号给所述权衡单元。Step 5.2), the judging module compares δ with a preset distance threshold SMn (t), and when δ≤SMn (t), sends a trigger signal to the weighing unit.
作为本发明一种汽车横纵向主动协调避撞系统的协调方法进一步的优化方案，所述步骤7)中电子控制单元ECU根据权衡单元的计算结果计算出当前工况下最优的前轮转角、侧向加速度、纵向加速度、汽车车速的具体步骤如下：As a further optimization scheme of the coordination method of a kind of automobile horizontal and vertical active coordinated collision avoidance system of the present invention, in the step 7), the electronic control unit ECU calculates the optimal front wheel angle, The specific steps of lateral acceleration, longitudinal acceleration and vehicle speed are as follows:
步骤7.1)，确定优化变量为纵向加速度a1，侧向加速度ay、前轮转角θf、汽车速度Vs；Step 7.1), determine the optimization variables as longitudinal acceleration a1 , lateral acceleration ay , front wheel rotation angle θf , vehicle speed Vs ;
步骤7.2)，确定以下目标函数f：Step 7.2), determine the following objective function f:
式中，f是综合评价指标，w1、w2、w3、w4分别是纵向加速度a1，侧向加速度ay、前轮转角θf、开始制动速度Vs的权重；In the formula, f is the comprehensive evaluation index, w1 , w2 , w3 , and w4 are the weights of longitudinal acceleration a1 , lateral acceleration ay , front wheel rotation angle θf , and starting braking speed Vs respectively;
步骤7.3)，确定优化的终止条件为：|Vs|＝Vsmax或|a1|＝amax或|θf|＝θfmax或|ay|＝aymax；Step 7.3), determining the termination condition of optimization is: |Vs |=Vsmax or |a1 |=amax or |θf |=θfmax or |ay |=aymax ;
其中，a1为最大的纵向加速度，aymax为最大的侧向加速度，θfmax为最大的前轮转角，Vsmax汽车安全行驶的最大速度；Among them, a1 is the maximum longitudinal acceleration, aymax is the maximum lateral acceleration, θfmax is the maximum front wheel rotation angle, and Vsmax is the maximum speed at which the car can run safely;
步骤7.4)，基于模拟退火算法进行全局寻优，寻找最优参数，具体步骤如下：Step 7.4), based on the simulated annealing algorithm for global optimization, to find the optimal parameters, the specific steps are as follows:
步骤7.4.1)，随机产生一个初始解x0，代表ay0、a10、Vs0、θf0，令xbest＝x0，并计算目标函数值f(x0)，ay0、a10、Vs0、θf0分别为在寻优初始时刻汽车纵向加速度，侧向加速度、前轮转角、汽车速度的初始值；Step 7.4.1), randomly generate an initial solution x0 , representing ay0 , a10 , Vs0 , θf0 , let xbest = x0 , and calculate the objective function value f(x0 ), ay0 , a10 , Vs0 , θf0 are the initial values of vehicle longitudinal acceleration, lateral acceleration, front wheel angle and vehicle speed at the initial moment of optimization;
步骤7.4.2)，设置当前温度T(0)＝T0；Step 7.4.2), setting current temperature T(0)=T0 ;
步骤7.4.3)，设置迭代总次数l，令当前迭代次数i＝0；Step 7.4.3), setting the total number of iterations l, making the current number of iterations i=0;
步骤7.4.4)，对当前最优解xbest按照任一邻域函数，产生一新的解xn，计算新的目标函数值f(xn)，并计算目标函数值的增量Δf＝f(xn)-f(x0)；Step 7.4.4), for the current optimal solution xbest according to any neighborhood function, generate a new solution xn , calculate the new objective function value f(xn ), and calculate the increment Δf of the objective function value = f(xn )-f(x0 );
步骤7.4.4.1)，如果Δf＜0，令xbest＝xn；Step 7.4.4.1), if Δf<0, let xbest =xn ;
步骤7.4.4.2)，如果Δf＞0，计算p＝exp(-Δf/T(i))；Step 7.4.4.2), if Δf>0, calculate p=exp(-Δf/T(i));
步骤7.4.4.2.1)，如果c＝random[0,1]＜p，令xbest＝xn；否则令xbest＝xbest；Step 7.4.4.2.1), if c=random[0,1]<p, set xbest =xn ; otherwise set xbest =xbest ;
步骤7.4.5)，使得i＝i+1；Step 7.4.5), so that i=i+1;
步骤7.4.6)，判断i是否等于l，若i不等于l，则返回步骤7.4.3)；Step 7.4.6), judge whether i is equal to 1, if i is not equal to 1, then return to step 7.4.3);
步骤7.4.7)，判断是否满足优化的终止条件；Step 7.4.7), judging whether the termination condition of optimization is satisfied;
步骤7.4.7.1)，如果不满足优化的终止条件，令T(i)＝CT(i)，并返回执行步骤步骤7.4.3)，C为预设的降低温度系数；Step 7.4.7.1), if the termination condition of optimization is not satisfied, make T(i)=CT(i), and return to step 7.4.3), C is the preset lowering temperature coefficient;
步骤7.4.7.2)，如果满足优化的终止条件，则输出纵向加速度侧向加速度前轮转角汽车速度Vs*作为最优解。Step 7.4.7.2), if the termination condition of optimization is satisfied, the longitudinal acceleration is output lateral acceleration front wheel angle The car speed Vs* is used as the optimal solution.
本发明采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art, the present invention adopts the above technical scheme and has the following technical effects:
1.提出更加有效的避撞模式：边转向边制动，使得在及时换挡减速的前提下，保障了避撞的安全性以及稳定性；1. Propose a more effective collision avoidance mode: brake while steering, so that the safety and stability of collision avoidance can be guaranteed under the premise of timely shifting and deceleration;
2.一方面保障安全避撞，另一方面也减少了避撞过程对交通流的干扰，保证交通效率，符合智能交通的要求；2. On the one hand, it ensures safety and collision avoidance, on the other hand, it also reduces the interference to traffic flow during the collision avoidance process, ensures traffic efficiency, and meets the requirements of intelligent transportation;
3.同时将换挡、转向、制动三个部分进行协调优化，使得避撞过程中得到纵向加速度侧向加速度前轮转角以及汽车速度Vs*；多单元进行协调，使得避撞系统利益最大化，达到避撞效果最优。3. At the same time, coordinate and optimize the three parts of shifting, steering and braking, so that the longitudinal acceleration can be obtained during the collision avoidance process lateral acceleration front wheel angle and the vehicle speed Vs* ; multi-unit coordination maximizes the benefits of the collision avoidance system and achieves the best collision avoidance effect.
附图说明Description of drawings
图1为本发明中汽车横纵向主动协调避撞系统的结构示意图；Fig. 1 is the structural representation of the horizontal and vertical active coordinated collision avoidance system of the automobile in the present invention;
图2为本发明中转向、制动以及换到协调优化方法的流程图。Fig. 2 is a flow chart of the steering, braking and switching coordination optimization method in the present invention.
具体实施方式detailed description
下面结合附图对本发明的技术方案做进一步的详细说明：Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
如图1所示，本发明公开了一种汽车横纵向主动协调避撞系统，包括前视雷达、车速传感器、侧向加速度传感器、纵向加速度传感器、前轮转角传感器、判断模块、信号集成模块、权衡单元、转向单元、制动单元、换档单元以及电子控制单元ECU；As shown in Figure 1, the present invention discloses a vehicle horizontal and vertical active coordinated collision avoidance system, including a forward-looking radar, a vehicle speed sensor, a lateral acceleration sensor, a longitudinal acceleration sensor, a front wheel angle sensor, a judgment module, a signal integration module, Balance unit, steering unit, brake unit, shift unit and electronic control unit ECU;
所述信号集成模块分别和车速传感器、侧向加速度传感器、纵向加速度传感器、前轮转角传感器、权衡单元相连；所述电子控制单元ECU分别和车速传感器、侧向加速度传感器、纵向加速度传感器、前轮转角传感器、前视雷达、判断模块、权衡单元、转向单元、制动单元、换挡单元相连；所述判断模块还分别和所述前视雷达、权衡单元相连；The signal integration module is connected to the vehicle speed sensor, lateral acceleration sensor, longitudinal acceleration sensor, front wheel angle sensor, and weighing unit respectively; the electronic control unit ECU is respectively connected to the vehicle speed sensor, lateral acceleration sensor, longitudinal acceleration sensor, front wheel A rotation angle sensor, a forward-looking radar, a judging module, a weighing unit, a steering unit, a braking unit, and a shifting unit are connected; the judging module is also connected to the forward-looking radar and the weighing unit respectively;
所述前视雷达设置在汽车上，用于收集前方车辆和汽车之间的相对距离以及前方车辆的速度，并将前方车辆和汽车之间的相对距离输出到所述判断模块、将前方车辆的速度输出到所述电子控制单元ECU；The forward-looking radar is arranged on the automobile, and is used for collecting the relative distance between the vehicle in front and the automobile and the speed of the vehicle in front, and outputs the relative distance between the vehicle in front and the automobile to the judging module, and the vehicle in front The speed is output to the electronic control unit ECU;
所述车速传感器、侧向加速度传感器、纵向加速度传感器以及前轮转角传感器均设置在汽车上，分别用于收集汽车的车速、侧向加速度、纵向加速度和前轮转角，并将收集到的数据输入到所述电子控制单元ECU和信号集成模块；The vehicle speed sensor, the lateral acceleration sensor, the longitudinal acceleration sensor and the front wheel angle sensor are all arranged on the automobile, and are respectively used to collect the vehicle speed, lateral acceleration, longitudinal acceleration and front wheel angle of the automobile, and input the collected data to the electronic control unit ECU and signal integration module;
所述信号集成模块用于将接收到的车速、侧向加速度、纵向加速度以及前轮转角整合成工况信号，并输送到权衡单元；The signal integration module is used to integrate the received vehicle speed, lateral acceleration, longitudinal acceleration and front wheel angle into a working condition signal and send it to the weighing unit;
所述转向单元包含转向助力电机，用于控制汽车进行转向操作；The steering unit includes a power steering motor for controlling the steering operation of the vehicle;
所述制动单元包含制动轮缸，用于控制汽车进行制动操作；The braking unit includes a brake wheel cylinder, which is used to control the vehicle to perform a braking operation;
所述换挡单元包含CVT，用于控制汽车进行换挡操作；The shift unit includes a CVT, which is used to control the car to perform a shift operation;
所述电子控制单元ECU用于根据接收到的汽车的车速、纵向加速度、侧向加速度以及前方车辆的速度计算汽车和前方车辆之间的安全距离后，将计算出的安全距离输送到所述判断模块；同时，在接收到权衡单元的计算结果时，根据权衡单元的计算结果计算出最优的前轮转角、侧向加速度、纵向加速度、汽车车速后，分别与汽车实时的前轮转角、侧向加速度、纵向加速度、汽车车速进行比较，依据比较得到的差值来调节转向助力电机的输入电流、制动轮缸的压力以及CVT的传动比，进而使得转向单元、制动单元、换档单元进行工作；The electronic control unit ECU is used to calculate the safety distance between the vehicle and the vehicle in front according to the received vehicle speed, longitudinal acceleration, lateral acceleration and the speed of the vehicle in front, and then send the calculated safety distance to the judgment module; at the same time, when receiving the calculation results of the trade-off unit, calculate the optimal front wheel angle, lateral acceleration, longitudinal acceleration and vehicle speed according to the calculation results of the trade-off unit, and compare them with the real-time front wheel angle, side Comparing the acceleration, longitudinal acceleration, and vehicle speed, and adjusting the input current of the power steering motor, the pressure of the brake wheel cylinder, and the transmission ratio of the CVT according to the difference obtained from the comparison, so that the steering unit, braking unit, and shifting unit working;
所述判断模块用于将接收到的前方车辆和汽车之间的相对距离和安全距离作差，在所得差值小于预设的距离阈值时，发送触发信号给所述权衡单元；The judging module is used to make a difference between the received relative distance and the safety distance between the vehicle in front and the car, and when the obtained difference is less than a preset distance threshold, send a trigger signal to the weighing unit;
所述权衡单元用于在接收到触发信号时根据接收到的工况信号计算出汽车纵向加速度的权重、侧向加速度的权重，前轮转角的权重和汽车速度的权重，并将其输入到电子控制单元ECU中。The weighing unit is used to calculate the weight of the longitudinal acceleration of the vehicle, the weight of the lateral acceleration, the weight of the front wheel rotation angle and the weight of the vehicle speed according to the received working condition signal when receiving the trigger signal, and input them to the electronic In the control unit ECU.
如图2所示，本发明还公开了一种基于该汽车横纵向主动协调避撞系统的协调方法，包括以下几个步骤：As shown in Figure 2, the present invention also discloses a coordination method based on the horizontal and vertical active coordination collision avoidance system of the vehicle, including the following steps:
步骤1)，前视雷达收集前方车辆和汽车之间的相对距离以及前方车辆的速度，并将前方车辆和汽车之间的相对距离输出到所述判断模块、将前方车辆的速度输出到所述电子控制单元ECU；Step 1), the forward-looking radar collects the relative distance between the vehicle in front and the vehicle and the speed of the vehicle in front, and outputs the relative distance between the vehicle in front and the vehicle to the judgment module, and the speed of the vehicle in front to the Electronic control unit ECU;
步骤2)，车速传感器、侧向加速度传感器、纵向加速度传感器、前轮转角传感器分别收集汽车的车速、侧向加速度、纵向加速度和前轮转角，并将收集到的数据输入到电子控制单元ECU和信号集成模块；Step 2), the vehicle speed sensor, the lateral acceleration sensor, the longitudinal acceleration sensor, and the front wheel rotation angle sensor respectively collect the vehicle speed, lateral acceleration, longitudinal acceleration and front wheel rotation angle of the car, and input the collected data to the electronic control unit ECU and Signal integration module;
步骤3)，电子控制单元ECU根据接收到的汽车的车速、纵向加速度、前方车辆的速度建立期望距离模型后，根据期望距离模型计算汽车和前方车辆之间的安全距离，并将计算出的安全距离输入到判断模块；Step 3), after the electronic control unit ECU establishes the expected distance model according to the received vehicle speed, longitudinal acceleration, and the speed of the vehicle in front, calculates the safe distance between the car and the vehicle in front according to the expected distance model, and uses the calculated safe distance The distance is input to the judgment module;
步骤4)，信号集成模块将接收到的车速、侧向加速度、纵向加速度以及前轮转角整合成工况信号后输送到权衡单元；Step 4), the signal integration module integrates the received vehicle speed, lateral acceleration, longitudinal acceleration and front wheel angle into a working condition signal and then sends it to the weighing unit;
步骤5)，判断模块将接收到的前方车辆和汽车之间的相对距离和电子控制单元ECU输入的安全距离作差，在所得差值小于预设的距离阈值时，发送触发信号给所述权衡单元；Step 5), the judging module makes a difference between the received relative distance between the vehicle in front and the car and the safety distance input by the electronic control unit ECU, and sends a trigger signal to the trade-off when the obtained difference is less than the preset distance threshold unit;
步骤6)，权衡单元接收到触发信号后，根据信号集成单元输入的工况信号计算出汽车纵向加速度的权重、侧向加速度的权重、前轮转角的权重和汽车速度的权重，并将其输入到电子控制单元ECU中；Step 6), after the weighing unit receives the trigger signal, it calculates the weight of the longitudinal acceleration of the vehicle, the weight of the lateral acceleration, the weight of the front wheel rotation angle and the weight of the vehicle speed according to the working condition signal input by the signal integration unit, and inputs it to the electronic control unit ECU;
步骤7)，电子控制单元ECU根据权衡单元的计算结果计算出当前工况下最优的前轮转角、侧向加速度、纵向加速度、汽车车速，然后分别与传感器输入的汽车实时的前轮转角、侧向加速度、纵向加速度、汽车车速进行比较，依据比较得到的差值来调节转向助力电机的输入电流、制动轮缸的压力以及CVT的传动比；Step 7), the electronic control unit ECU calculates the optimal front wheel angle, lateral acceleration, longitudinal acceleration, and vehicle speed under the current working condition according to the calculation result of the trade-off unit, and then compares them with the real-time front wheel angle, The lateral acceleration, longitudinal acceleration, and vehicle speed are compared, and the input current of the power steering motor, the pressure of the brake wheel cylinder, and the transmission ratio of the CVT are adjusted according to the difference obtained from the comparison;
步骤8)，转向助力电机、CVT、制动轮缸依据电子控制单元ECU调节后的电机电流、传动比、制动压力分别为转向单元、换挡单元以及制动单元提供转向助力、变速、液压油压力，使得转向单元、换档单元、制动单元实现相应的转向、换挡以及制动操作。Step 8), the power steering motor, CVT, and brake wheel cylinder respectively provide power steering, gear shifting, hydraulic The oil pressure enables the steering unit, gear shift unit and brake unit to realize corresponding steering, gear shift and brake operations.
所述步骤3)中根据以下公式建立期望距离模型S*(Vn(t),ΔVn(t))：In the step 3), the expected distance model S* (Vn (t), ΔVn (t)) is established according to the following formula:
式中，Vn(t)为汽车的车速；ΔVn(t)为前方车辆和汽车之间的相对速度；s0为预设的前方车辆和汽车之间的最小间隙距离阈值；t为时间；a为汽车的纵向加速度；b为预设的舒适减速度阈值；T为预设的驾驶员反应时间阈值。In the formula, Vn (t) is the speed of the vehicle; ΔVn (t) is the relative speed between the vehicle in front and the vehicle; s0 is the preset minimum gap distance threshold between the vehicle in front and the vehicle; t is the time ; a is the longitudinal acceleration of the car; b is the preset comfortable deceleration threshold; T is the preset driver reaction time threshold.
所述s0为3米，b为1.5m/s2，T为2s。Said s0 is 3 meters, b is 1.5m/s2 , and T is 2s.
所述步骤5)的具体步骤如下：The concrete steps of described step 5) are as follows:
步骤5.1)，判断模块计算前方车辆和汽车之间的相对距离和安全距离之间的差值δ：Step 5.1), the judgment module calculates the difference δ between the relative distance between the vehicle in front and the car and the safety distance:
δ＝S-S*δ=SS*
式中，S为前方车辆和汽车之间的相对距离，S*为安全距离：In the formula, S is the relative distance between the vehicle in front and the car, and S* is the safety distance:
步骤5.2)，判断模块将δ和预设的距离阈值SMn(t)进行比较，当δ≤SMn(t)时，发送触发信号给所述权衡单元。Step 5.2), the judging module compares δ with a preset distance threshold SMn (t), and when δ≤SMn (t), sends a trigger signal to the weighing unit.
所述步骤7)中电子控制单元ECU根据权衡单元的计算结果计算出当前工况下最优的前轮转角、侧向加速度、纵向加速度、汽车车速的具体步骤如下：In the step 7), the electronic control unit ECU calculates the optimal front wheel angle, lateral acceleration, longitudinal acceleration, and vehicle speed under the current working condition according to the calculation result of the weighing unit. The specific steps are as follows:
步骤7.1)，确定优化变量为纵向加速度a1，侧向加速度ay、前轮转角θf、汽车速度Vs；Step 7.1), determine the optimization variables as longitudinal acceleration a1 , lateral acceleration ay , front wheel rotation angle θf , vehicle speed Vs ;
步骤7.2)，确定以下目标函数f：Step 7.2), determine the following objective function f:
式中，f是综合评价指标，w1、w2、w3、w4分别是纵向加速度a1，侧向加速度ay、前轮转角θf、开始制动速度Vs的权重；In the formula, f is the comprehensive evaluation index, w1 , w2 , w3 , and w4 are the weights of longitudinal acceleration a1 , lateral acceleration ay , front wheel rotation angle θf , and starting braking speed Vs respectively;
步骤7.3)，确定优化的终止条件为：|Vs|＝Vsmax或|a1|＝amax或|θf|＝θfmax或|ay|＝aymax；Step 7.3), determining the termination condition of optimization is: |Vs |=Vsmax or |a1 |=amax or |θf |=θfmax or |ay |=aymax ;
其中，a1为最大的纵向加速度，aymax为最大的侧向加速度，θfmax为最大的前轮转角，Vsmax汽车安全行驶的最大速度；Among them, a1 is the maximum longitudinal acceleration, aymax is the maximum lateral acceleration, θfmax is the maximum front wheel rotation angle, and Vsmax is the maximum speed at which the car can run safely;
步骤7.4)，基于模拟退火算法进行全局寻优，寻找最优参数，具体步骤如下：Step 7.4), based on the simulated annealing algorithm for global optimization, to find the optimal parameters, the specific steps are as follows:
步骤7.4.1)，随机产生一个初始解x0，代表ay0、a10、Vs0、θf0，令xbest＝x0，并计算目标函数值f(x0)，ay0、a10、Vs0、θf0分别为在寻优初始时刻汽车纵向加速度，侧向加速度、前轮转角、汽车速度的初始值；Step 7.4.1), randomly generate an initial solution x0 , representing ay0 , a10 , Vs0 , θf0 , let xbest = x0 , and calculate the objective function value f(x0 ), ay0 , a10 , Vs0 , θf0 are the initial values of vehicle longitudinal acceleration, lateral acceleration, front wheel angle and vehicle speed at the initial moment of optimization;
步骤7.4.2)，设置当前温度T(0)＝T0；Step 7.4.2), setting current temperature T(0)=T0 ;
步骤7.4.3)，设置迭代总次数l，令当前迭代次数i＝0；Step 7.4.3), setting the total number of iterations l, making the current number of iterations i=0;
步骤7.4.4)，对当前最优解xbest按照任一邻域函数，产生一新的解xn，计算新的目标函数值f(xn)，并计算目标函数值的增量Δf＝f(xn)-f(x0)；Step 7.4.4), for the current optimal solution xbest according to any neighborhood function, generate a new solution xn , calculate the new objective function value f(xn ), and calculate the increment Δf of the objective function value = f(xn )-f(x0 );
步骤7.4.4.1)，如果Δf＜0，令xbest＝xn；Step 7.4.4.1), if Δf<0, let xbest =xn ;
步骤7.4.4.2)，如果Δf＞0，计算p＝exp(-Δf/T(i))；Step 7.4.4.2), if Δf>0, calculate p=exp(-Δf/T(i));
步骤7.4.4.2.1)，如果c＝random[0,1]＜p，令xbest＝xn；否则令xbest＝xbest；Step 7.4.4.2.1), if c=random[0,1]<p, set xbest =xn ; otherwise set xbest =xbest ;
步骤7.4.5)，使得i＝i+1；Step 7.4.5), so that i=i+1;
步骤7.4.6)，判断i是否等于l，若i不等于l，则返回步骤7.4.3)；Step 7.4.6), judge whether i is equal to 1, if i is not equal to 1, then return to step 7.4.3);
步骤7.4.7)，判断是否满足优化的终止条件；Step 7.4.7), judging whether the termination condition of optimization is satisfied;
步骤7.4.7.1)，如果不满足优化的终止条件，令T(i)＝CT(i)，并返回执行步骤步骤7.4.3)，C为预设的降低温度系数；Step 7.4.7.1), if the termination condition of optimization is not satisfied, make T(i)=CT(i), and return to step 7.4.3), C is the preset lowering temperature coefficient;
步骤7.4.7.2)，如果满足优化的终止条件，则输出纵向加速度侧向加速度前轮转角汽车速度Vs*作为最优解。Step 7.4.7.2), if the termination condition of optimization is satisfied, the longitudinal acceleration is output lateral acceleration front wheel angle The car speed Vs* is used as the optimal solution.
电子控制单元ECU依据最优值与实时值对比的差值对助力电机的输入电流、CVT的传动比以及制动轮缸的油路压力进行调节控制，进而使得汽车避撞状态达到最优最稳定的状态。The electronic control unit ECU adjusts and controls the input current of the booster motor, the transmission ratio of the CVT, and the oil circuit pressure of the brake wheel cylinder according to the difference between the optimal value and the real-time value, thereby making the vehicle's collision avoidance state optimal and stable status.
本发明实时观测汽车的运动状态，依据工况的变化，为换挡、转向和制动系统提供不同的权重，从而实现边转向边制动的避撞方式，提高了避撞效率，也保证了行车的安全性能以及稳定性能。The invention observes the motion state of the car in real time, and provides different weights for the gear shifting, steering and braking systems according to the change of working conditions, thereby realizing the collision avoidance mode of steering while braking, improving the collision avoidance efficiency, and ensuring Driving safety performance and stability performance.
本技术领域技术人员可以理解的是，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and unless defined as herein, are not to be interpreted in an idealized or overly formal sense Explanation.
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
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| CN201710250011.9ACN106965808A (en) | 2017-04-17 | 2017-04-17 | Automobile transverse and longitudinal active negotiation anti-collision system and its coordination approach |
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| CN201710250011.9ACN106965808A (en) | 2017-04-17 | 2017-04-17 | Automobile transverse and longitudinal active negotiation anti-collision system and its coordination approach |
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| CN106965808Atrue CN106965808A (en) | 2017-07-21 |
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| CN201710250011.9APendingCN106965808A (en) | 2017-04-17 | 2017-04-17 | Automobile transverse and longitudinal active negotiation anti-collision system and its coordination approach |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20170721 |